the ONLY reason that this precedent of historical usurpation as 'legal' is only there because the American people have been dumbed down to the point that they actually believe that the government is the arbiter of the limits of their own power, which is patently false.
In the case of Marbury v. Madison, one branch of the government was going to have to clarify the intent of the Constitution. I agree with Jefferson that it should have been Congress. Marshall usurped the power before there was any sort of public debate. Jefferson wrote a scathing rebuke, but no action was taken by Congress and the power stuck. 200 years later, the only way that will change is through either a direct Constitutional Amendment or a Convention of States.